#ifdef _PID1_H
#define _PID1_H
//位置式PID
typedef struct PID_Position
{
    float P;
    float I;
    float D;
    float limit;

    float Current_Error;
    float Last_Error;
    float Previous_Error;
    /* data */
};

//增量式PID
typedef struct PID_Increment
{
    float P;
    float I;
    float D;
    float limit;

    float Current_Error;
    float Last_Error;
    float Previous_Error;   
    /* data */
};


#endif

